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EEEB443 Control & Drives

EEEB443 Control & Drives. Closed-loop Control of DC Drives with Controlled Rectifier By Dr. Ungku Anisa Ungku Amirulddin Department of Electrical Power Engineering College of Engineering. Outline. Closed Loop Control of DC Drives Closed-loop Control with Controlled Rectifier –

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EEEB443 Control & Drives

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  1. EEEB443 Control & Drives Closed-loop Control of DC Drives with Controlled Rectifier By Dr. UngkuAnisaUngkuAmirulddin Department of Electrical Power Engineering College of Engineering EEEB443 - Control & Drives

  2. Outline • Closed Loop Control of DC Drives • Closed-loop Control with Controlled Rectifier – Two-quadrant • Transfer Functions of Subsystems • Design of Controllers • Closed-loop Control with Field Weakening – Two-quadrant • Closed-loop Control with Controlled Rectifier – Four-quadrant • References EEEB443 - Control & Drives

  3. Closed Loop Control of DC Drives • Closed loop control is when the firing angle is varied automatically by a controller to achieve a reference speed or torque • This requires the use of sensors to feed back the actual motor speed and torque to be compared with the reference values Output signal Referencesignal Plant Controller +  Sensor EEEB443 - Control & Drives

  4. Closed Loop Control of DC Drives • Feedback loops may be provided to satisfy one or more of the following: • Protection • Enhancement of response – fast response with small overshoot • Improve steady-state accuracy • Variables to be controlled in drives: • Torque – achieved by controlling current • Speed • Position EEEB443 - Control & Drives

  5. Closed Loop Control of DC Drives • Cascade control structure • Flexible – outer loops can be added/removed depending on control requirements. • Control variable of inner loop (eg: speed, torque) can be limited by limiting its reference value • Torque loop is fastest, speed loop – slower and position loop - slowest EEEB443 - Control & Drives

  6. Closed Loop Control of DC Drives • Cascade control structure: • Inner Torque (Current) Control Loop: • Current control loop is used to control torque via armature current (ia) and maintains current within a safe limit • Accelerates and decelerates the drive at maximum permissible current and torque during transient operations Torque (Current) Control Loop EEEB443 - Control & Drives

  7. Closed Loop Control of DC Drives • Cascade control structure • Speed Control Loop: • Ensures that the actual speed is always equal to reference speed * • Provides fast response to changes in *, TL and supply voltage (i.e. any transients are overcome within the shortest feasible time) without exceeding motor and converter capability Speed Control Loop EEEB443 - Control & Drives

  8. Closed Loop Control with Controlled Rectifiers – Two-quadrant Current Control Loop • Two-quadrant Three-phase Controlled Rectifier DC Motor Drives Speed Control Loop EEEB443 - Control & Drives

  9. Closed Loop Control with Controlled Rectifiers – Two-quadrant • Actual motor speed m measured using the tachogenerator (Tach) is filtered to produce feedback signal mr • The reference speed r* is compared to mrto obtain a speed error signal • The speed (PI) controllerprocesses the speed error and produces the torque command Te* • Te* is limited by the limiter to keep within the safe current limits and the armature current command ia* is produced • ia* is compared to actual current ia to obtain a current error signal • The current (PI) controllerprocesses the error to alter the control signal vc • vc modifies the firing angle to be sent to the converter to obtained the motor armature voltage for the desired motor operation speed EEEB443 - Control & Drives

  10. Closed Loop Control with Controlled Rectifiers – Two-quadrant • Design of speed and current controller (gain and time constants) is crucial in meeting the dynamic specifications of the drive system • Controller design procedure: • Obtain the transfer function of all drive subsystems • DC Motor & Load • Current feedback loop sensor • Speed feedback loop sensor • Design current (torque) control loop first • Then design the speed control loop EEEB443 - Control & Drives

  11. Transfer Function of Subsystems – DC Motor and Load • Assume load is proportional to speed • DC motor has inner loop due to induced emf magnetic coupling, which is not physically seen • This creates complexity in current control loop design EEEB443 - Control & Drives

  12. Transfer Function of Subsystems – DC Motor and Load • Need to split the DC motor transfer function between m and Va (1) • where (2) (3) • This is achieved through redrawing of the DC motor and load block diagram. EEEB443 - Control & Drives

  13. Transfer Function of Subsystems – DC Motor and Load • In (2), - mechanical motor time constant: (4) - motor and load friction coefficient: (5) • In (3), (6) (7) Note: J = motor inertia, B1 = motor friction coefficient, BL = load friction coefficient EEEB443 - Control & Drives

  14. Transfer Function of Subsystems – Three-phase Converter • Need to obtain linear relationship between control signal vc and delay angle  (i.e. using ‘cosine wave crossing’ method) (8) where vc = control signal (output of current controller) Vcm = maximum value of the control voltage • Thus, dc output voltage of the three-phase converter (9) EEEB443 - Control & Drives

  15. Transfer Function of Subsystems – Three-phase Converter • Gain of the converter (10) where V = rms line-to-line voltage of 3-phase supply • Converter also has a delay (11) where fs = supply voltage frequency • Hence, the converter transfer function (12) EEEB443 - Control & Drives

  16. Transfer Function of Subsystems – Current and Speed Feedback • Current Feedback • Transfer function: • No filtering is required in most cases • If filtering is required, a low pass-filter can be included (time constant < 1ms). • Speed Feedback • Transfer function: (13) where K = gain, T = time constant • Most high performance systems use dc tachogenerator and low-pass filter • Filter time constant < 10 ms EEEB443 - Control & Drives

  17. Design of Controllers – Block Diagram of Motor Drive Current Control Loop Speed Control Loop • Control loop design starts from inner (fastest) loop to outer(slowest) loop • Only have to solve for one controller at a time • Not all drive applications require speed control (outer loop) • Performance of outer loop depends on inner loop EEEB443 - Control & Drives

  18. Design of Controllers– Current Controller DC Motor & Load Controller Converter • PI type current controller: (14) • Open loop gain function: (15) • From the open loop gain, the system is of 4th order (due to 4 poles of system) EEEB443 - Control & Drives

  19. Design of Controllers– Current Controller • If designing without computers, simplification is needed. • Simplification 1: Tm is in order of 1 second. Hence, (16) Hence, the open loop gain function becomes: i.e. system zero cancels the controller pole at origin. (17) EEEB443 - Control & Drives

  20. Design of Controllers– Current Controller • Relationship between the denominator time constants in (17): • Simplification 2: Make controller time constant equal to T2 (18) Hence, the open loop gain function becomes: i.e. controller zero cancels one of the system poles. EEEB443 - Control & Drives

  21. Design of Controllers– Current Controller • After simplification, the final open loop gain function: (19) where (20) • The system is now of 2nd order. • From the closed loop transfer function: , the closed loop characteristic equation is: or when expanded becomes: (21) EEEB443 - Control & Drives

  22. Design of Controllers– Current Controller • Design the controller by comparing system characteristic equation (eq. 21) with the standard 2nd order system equation: • Hence, (22) (23) • So, for a given value of : • use (22) to calculate n • Then use (23) to calculate the controller gain KC EEEB443 - Control & Drives

  23. Design of Controllers– Current loop 1st order approximation • To design the speed loop, the 2nd order model of current loop must be replaced with an approximate 1st order model • Why? • To reduce the order of the overall speed loop gain function 2nd order current loop model EEEB443 - Control & Drives

  24. Design of Controllers– Current loop 1st order approximation • Approximated by adding Tr to T1 • Hence, current model transfer function is given by: (24) 1st order approximation of current loop Full derivation available here. EEEB443 - Control & Drives

  25. Design of Controllers– Current loop 1st order approximation where (26) (27) (28) • 1st order approximation of current loop used in speed loop design. • If more accurate speed controller design is required, values of Kiand Tishould be obtained experimentally. EEEB443 - Control & Drives

  26. Design of Controllers– Speed Controller DC Motor & Load • PI type speed controller: (29) • Assume there is unity speed feedback: (30) 1st order approximation of current loop EEEB443 - Control & Drives

  27. Design of Controllers– Speed Controller DC Motor & Load • Open loop gain function: (31) • From the loop gain, the system is of 3rd order. • If designing without computers, simplification is needed. 1st order approximation of current loop 1 EEEB443 - Control & Drives

  28. Design of Controllers– Speed Controller • Relationship between the denominator time constants in (31): (32) • Hence, design the speed controller such that: (33) The open loop gain function becomes: i.e. controller zero cancels one of the system poles. EEEB443 - Control & Drives

  29. Design of Controllers– Speed Controller • After simplification, loop gain function: (34) where (35) • The controller is now of 2nd order. • From the closed loop transfer function: , the closed loop characteristic equation is: or when expanded becomes: (36) EEEB443 - Control & Drives

  30. Design of Controllers– Speed Controller • Design the controller by comparing system characteristic equation with the standard equation: • Hence: (37) (38) • So, for a given value of : • use (37) to calculate n • Then use (38) to calculate the controller gain KS EEEB443 - Control & Drives

  31. Closed Loop Control with Field Weakening – Two-quadrant • Motor operation above base speed requires field weakening • Field weakening obtained by varying field winding voltage usingcontrolled rectifier in: • single-phase or • three-phase • Field current has no ripple – due to large Lf • Converter time lag negligible compared to field time constant • Consists of two additional control loops on field circuit: • Field current control loop (inner) • Induced emf control loop (outer) EEEB443 - Control & Drives

  32. Closed Loop Control with Field Weakening – Two-quadrant Field weakening EEEB443 - Control & Drives

  33. Closed Loop Control with Field Weakening – Two-quadrant Field weakening Field current controller (PI-type) Estimated machine -induced emf Induced emf controller (PI-type with limiter) Field current reference Induced emf reference EEEB443 - Control & Drives

  34. Closed Loop Control with Field Weakening – Two-quadrant • The estimated machine-induced emf is obtained from: (the estimated emf is machine-parameter sensitive and must be adaptive) • The reference induced emfe* is compared to e to obtain the induced emf error signal (for speed above base speed, e* kept constant at rated emf value so that   1/) • The induced emf (PI) controllerprocesses the error and produces the field current reference if* • if* is limited by the limiter to keep within the safe field current limits • if* is compared to actual field current if to obtain a current error signal • The field current (PI) controllerprocesses the error to alter the control signal vcf(similar to armature current iacontrol loop) • vcfmodifies the firing angle fto be sent to the converter to obtained the motor field voltage for the desired motor field flux EEEB443 - Control & Drives

  35. Closed Loop Control with Controlled Rectifiers – Four-quadrant • Four-quadrant Three-phase Controlled Rectifier DC Motor Drives EEEB443 - Control & Drives

  36. Closed Loop Control with Controlled Rectifiers – Four-quadrant • Control very similar to the two-quadrant dc motor drive. • Each converter must be energized depending on quadrant of operation: • Converter 1 – for forward direction / rotation • Converter 2 – for reverse direction / rotation • Changeover between Converters 1 & 2 handled by monitoring • Speed • Current-command • Zero-crossing current signals • ‘Selector’ block determines which converter has to operate by assigning pulse-control signals • Speed and current loops shared by both converters • Converters switched only when current in outgoing converter is zero (i.e. does not allow circulating current. One converter is on at a time.) Inputs to ‘Selector’ block EEEB443 - Control & Drives

  37. References • Krishnan, R., Electric Motor Drives: Modeling, Analysis and Control, Prentice-Hall, New Jersey, 2001. • Rashid, M.H, Power Electronics: Circuit, Devices and Applictions, 3rd ed., Pearson, New-Jersey, 2004. • Nik Idris, N. R., Short Course Notes on Electrical Drives, UNITEN/UTM, 2008. EEEB443 - Control & Drives

  38. DC Motor and Load Transfer Function - Decoupling of Induced EMF Loop • Step 1: • Step 2: EEEB443 - Control & Drives

  39. DC Motor and Load Transfer Function - Decoupling of Induced EMF Loop • Step 3: • Step 4: Back EEEB443 - Control & Drives

  40. 3 4 2 0 Vcm vc   Cosine-wave Crossing Control for Controlled Rectifiers Vm Input voltageto rectifier Cosine wave compared with control voltage vc Cosine voltage Vcmcos() = vc Results of comparison trigger SCRs Output voltageof rectifier Back EEEB443 - Control & Drives

  41. Design of Controllers– Current loop 1st order approximation Back EEEB443 - Control & Drives

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